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<div class="title">openni_device.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_config.h&gt;</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifdef HAVE_OPENNI</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef __OPENNI_IDEVICE_H__</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define __OPENNI_IDEVICE_H__</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;utility&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &quot;openni_exception.h&quot;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &quot;openni.h&quot;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/io/boost.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160; </div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160; </div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="preprocessor">#ifndef _WIN32</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;<span class="preprocessor">#define __stdcall</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;<span class="keyword">namespace </span>openni_wrapper</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;{</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">class </span>Image;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keyword">class </span>DepthImage;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  <span class="keyword">class </span>IRImage;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  <span class="keyword">class </span>PCL_EXPORTS OpenNIDevice</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">enum</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        OpenNI_shift_values = 0, <span class="comment">// Shift values (disparity)</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        OpenNI_12_bit_depth = 1, <span class="comment">// Default mode: regular 12-bit depth</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      } DepthMode;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="keyword">typedef</span> boost::function&lt;void(boost::shared_ptr&lt;Image&gt;, <span class="keywordtype">void</span>* cookie) &gt; ImageCallbackFunction;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">typedef</span> boost::function&lt;void(boost::shared_ptr&lt;DepthImage&gt;, <span class="keywordtype">void</span>* cookie) &gt; DepthImageCallbackFunction;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> boost::function&lt;void(boost::shared_ptr&lt;IRImage&gt;, <span class="keywordtype">void</span>* cookie) &gt; IRImageCallbackFunction;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      <span class="keyword">typedef</span> <span class="keywordtype">unsigned</span> CallbackHandle;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">virtual</span> ~OpenNIDevice () throw ();</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      findCompatibleImageMode (const XnMapOutputMode&amp; output_mode, XnMapOutputMode&amp; mode ) const throw ();</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      findCompatibleDepthMode (const XnMapOutputMode&amp; output_mode, XnMapOutputMode&amp; mode ) const throw ();</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      isImageModeSupported (const XnMapOutputMode&amp; output_mode) const throw ();</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      isDepthModeSupported (const XnMapOutputMode&amp; output_mode) const throw ();</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      const XnMapOutputMode&amp; </div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      getDefaultImageMode () const throw ();</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      const XnMapOutputMode&amp; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      getDefaultDepthMode () const throw ();</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;      const XnMapOutputMode&amp; </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      getDefaultIRMode () const throw ();</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      setImageOutputMode (const XnMapOutputMode&amp; output_mode);</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      setDepthOutputMode (const XnMapOutputMode&amp; output_mode);</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      setIROutputMode (const XnMapOutputMode&amp; output_mode);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      XnMapOutputMode </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      getImageOutputMode () const;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      XnMapOutputMode </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;      getDepthOutputMode () const;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      XnMapOutputMode </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      getIROutputMode () const;</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      setDepthRegistration (<span class="keywordtype">bool</span> on_off);</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      isDepthRegistered () const throw ();</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      isDepthRegistrationSupported () const throw ();</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      setSynchronization (<span class="keywordtype">bool</span> on_off);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      isSynchronized () const throw ();</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      virtual <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      isSynchronizationSupported () const throw ();</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      isDepthCropped () const;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      setDepthCropping (<span class="keywordtype">unsigned</span> x, <span class="keywordtype">unsigned</span> y, <span class="keywordtype">unsigned</span> width, <span class="keywordtype">unsigned</span> height);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      isDepthCroppingSupported () const throw ();</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      inline <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      getImageFocalLength (<span class="keywordtype">int</span> output_x_resolution = 0) const throw ();</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      inline <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      getDepthFocalLength (<span class="keywordtype">int</span> output_x_resolution = 0) const throw ();</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      inline <span class="keywordtype">float</span> </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;      getBaseline () const throw ();</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      virtual <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      startImageStream ();</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      virtual <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      stopImageStream ();</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;      virtual <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      startDepthStream ();</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;      virtual <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;      stopDepthStream ();</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;      virtual <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;      startIRStream ();</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      virtual <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      stopIRStream ();</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      hasImageStream () const throw ();</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      hasDepthStream () const throw ();</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;      hasIRStream () const throw ();</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;      virtual <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      isImageStreamRunning () const throw ();</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      virtual <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      isDepthStreamRunning () const throw ();</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      virtual <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;      isIRStreamRunning () const throw ();</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160; </div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      CallbackHandle </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      registerImageCallback (const ImageCallbackFunction&amp; callback, <span class="keywordtype">void</span>* cookie = NULL) throw ();</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;      template&lt;typename T&gt; CallbackHandle </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      registerImageCallback (<span class="keywordtype">void</span> (T::*callback)(boost::shared_ptr&lt;Image&gt;, <span class="keywordtype">void</span>* cookie), T&amp; instance, <span class="keywordtype">void</span>* cookie = NULL) throw ();</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      unregisterImageCallback (const CallbackHandle&amp; callbackHandle) throw ();</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      CallbackHandle </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      registerDepthCallback (const DepthImageCallbackFunction&amp; callback, <span class="keywordtype">void</span>* cookie = NULL) throw ();</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      template&lt;typename T&gt; CallbackHandle </div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      registerDepthCallback (<span class="keywordtype">void</span> (T::*callback)(boost::shared_ptr&lt;DepthImage&gt;, <span class="keywordtype">void</span>* cookie), T&amp; instance, <span class="keywordtype">void</span>* cookie = NULL) throw ();</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;      unregisterDepthCallback (const CallbackHandle&amp; callbackHandle) throw ();</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160; </div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;      CallbackHandle </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      registerIRCallback (const IRImageCallbackFunction&amp; callback, <span class="keywordtype">void</span>* cookie = NULL) throw ();</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;      template&lt;typename T&gt; CallbackHandle </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      registerIRCallback (<span class="keywordtype">void</span> (T::*callback)(boost::shared_ptr&lt;IRImage&gt;, <span class="keywordtype">void</span>* cookie), T&amp; instance, <span class="keywordtype">void</span>* cookie = NULL) throw ();</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      unregisterIRCallback (const CallbackHandle&amp; callbackHandle) throw ();</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      const <span class="keywordtype">char</span>* </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;      getSerialNumber () const throw ();</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      const <span class="keywordtype">char</span>* </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      getConnectionString () const throw ();</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;      const <span class="keywordtype">char</span>* </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;      getVendorName () const throw ();</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      const <span class="keywordtype">char</span>* </div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;      getProductName () const throw ();</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160; </div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> </div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;      getVendorID () const throw ();</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160; </div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;      getProductID () const throw ();</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>  </div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;      getBus () const throw ();</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160; </div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span>  </div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;      getAddress () const throw ();</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      inline <span class="keywordtype">void</span></div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      setRGBFocalLength (<span class="keywordtype">float</span> focal_length)</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;      {</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;        rgb_focal_length_SXGA_ = focal_length;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      }</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160; </div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;      setDepthFocalLength (<span class="keywordtype">float</span> focal_length)</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      {</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;        depth_focal_length_SXGA_ = focal_length;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;      }</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160; </div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      setDepthOutputFormat (<span class="keyword">const</span> DepthMode&amp; depth_mode = OpenNI_12_bit_depth);</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160; </div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;      XnUInt64 </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      getDepthOutputFormat () <span class="keyword">const</span>;</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160; </div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160; </div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      pcl::uint16_t</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;      shiftToDepth (pcl::uint16_t shift_value)<span class="keyword"> const</span></div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        assert (shift_conversion_parameters_.init_);</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160; </div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;        pcl::uint16_t ret = 0;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160; </div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;        <span class="comment">// lookup depth value in shift lookup table</span></div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;        <span class="keywordflow">if</span> (shift_value&lt;shift_to_depth_table_.size())</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;          ret = shift_to_depth_table_[shift_value];</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;        <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;      }</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160; </div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;      <span class="comment">// make OpenNIDevice non copyable</span></div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;      OpenNIDevice (OpenNIDevice <span class="keyword">const</span> &amp;);</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;      OpenNIDevice&amp; operator=(OpenNIDevice <span class="keyword">const</span> &amp;);</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;      <span class="keyword">typedef</span> boost::function&lt;void(boost::shared_ptr&lt;Image&gt;) &gt; ActualImageCallbackFunction;</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;      <span class="keyword">typedef</span> boost::function&lt;void(boost::shared_ptr&lt;DepthImage&gt;) &gt; ActualDepthImageCallbackFunction;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;      <span class="keyword">typedef</span> boost::function&lt;void(boost::shared_ptr&lt;IRImage&gt;) &gt; ActualIRImageCallbackFunction;</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160; </div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      OpenNIDevice (xn::Context&amp; context, <span class="keyword">const</span> xn::NodeInfo&amp; device_node, <span class="keyword">const</span> xn::NodeInfo&amp; image_node, <span class="keyword">const</span> xn::NodeInfo&amp; depth_node, <span class="keyword">const</span> xn::NodeInfo&amp; ir_node);</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;      OpenNIDevice (xn::Context&amp; context, <span class="keyword">const</span> xn::NodeInfo&amp; device_node, <span class="keyword">const</span> xn::NodeInfo&amp; depth_node, <span class="keyword">const</span> xn::NodeInfo&amp; ir_node);</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;      OpenNIDevice (xn::Context&amp; context);</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span> __stdcall NewDepthDataAvailable (xn::ProductionNode&amp; node, <span class="keywordtype">void</span>* cookie) <span class="keywordflow">throw</span> ();</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span> __stdcall NewImageDataAvailable (xn::ProductionNode&amp; node, <span class="keywordtype">void</span>* cookie) <span class="keywordflow">throw</span> ();</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span> __stdcall NewIRDataAvailable (xn::ProductionNode&amp; node, <span class="keywordtype">void</span>* cookie) <span class="keywordflow">throw</span> ();</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;      <span class="comment">// This is a workaround, since in the NewDepthDataAvailable function WaitAndUpdateData leads to a dead-lock behaviour</span></div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;      <span class="comment">// and retrieving image data without WaitAndUpdateData leads to incomplete images!!!</span></div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;      ImageDataThreadFunction ();</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;      DepthDataThreadFunction ();</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160; </div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;      IRDataThreadFunction ();</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160; </div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;      isImageResizeSupported (<span class="keywordtype">unsigned</span> input_width, <span class="keywordtype">unsigned</span> input_height, <span class="keywordtype">unsigned</span> output_width, <span class="keywordtype">unsigned</span> output_height) <span class="keyword">const</span>  <span class="keywordflow">throw</span> () = 0;</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160; </div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;      setRegistration (<span class="keywordtype">bool</span> on_off);</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160; </div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;      <span class="keyword">virtual</span> boost::shared_ptr&lt;Image&gt; </div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;      getCurrentImage (boost::shared_ptr&lt;xn::ImageMetaData&gt; image_data) <span class="keyword">const</span> <span class="keywordflow">throw</span> () = 0;</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160; </div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;      <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;      Init ();</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160; </div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;      <span class="keywordtype">void</span> InitShiftToDepthConversion();</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;      <span class="keywordtype">void</span> ReadDeviceParametersFromSensorNode();</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160; </div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;      <span class="keyword">struct </span>ShiftConversion</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;      {</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;        ShiftConversion() : init_(false) {}</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160; </div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;        XnUInt16 zero_plane_distance_;</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;        XnFloat zero_plane_pixel_size_;</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;        XnFloat emitter_dcmos_distace_;</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;        XnUInt32 max_shift_;</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;        XnUInt32 device_max_shift_;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        XnUInt32 const_shift_;</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        XnUInt32 pixel_size_factor_;</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;        XnUInt32 param_coeff_;</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;        XnUInt32 shift_scale_;</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;        XnUInt32 min_depth_;</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;        XnUInt32 max_depth_;</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;        <span class="keywordtype">bool</span> init_;</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160; </div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;      } shift_conversion_parameters_;</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160; </div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;      std::vector&lt;pcl::uint16_t&gt; shift_to_depth_table_;</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160; </div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;      <span class="comment">// holds the callback functions together with custom data</span></div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;      <span class="comment">// since same callback function can be registered multiple times with e.g. different custom data</span></div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;      <span class="comment">// we use a map structure with a handle as the key</span></div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;      std::map&lt;CallbackHandle, ActualImageCallbackFunction&gt; image_callback_;</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;      std::map&lt;CallbackHandle, ActualDepthImageCallbackFunction&gt; depth_callback_;</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;      std::map&lt;CallbackHandle, ActualIRImageCallbackFunction&gt; ir_callback_;</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160; </div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;      std::vector&lt;XnMapOutputMode&gt; available_image_modes_;</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      std::vector&lt;XnMapOutputMode&gt; available_depth_modes_;</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160; </div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;      xn::Context&amp; context_;</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      xn::NodeInfo device_node_info_;</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160; </div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;      xn::DepthGenerator depth_generator_;</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;      xn::ImageGenerator image_generator_;</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;      xn::IRGenerator ir_generator_;</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160; </div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      XnCallbackHandle depth_callback_handle_;</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;      XnCallbackHandle image_callback_handle_;</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;      XnCallbackHandle ir_callback_handle_;</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;      <span class="keywordtype">float</span> depth_focal_length_SXGA_;</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;      <span class="keywordtype">float</span> baseline_;</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;      <span class="keywordtype">float</span> rgb_focal_length_SXGA_;</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160; </div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;      XnUInt64 shadow_value_;</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;      XnUInt64 no_sample_value_;</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160; </div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;      OpenNIDevice::CallbackHandle image_callback_handle_counter_;</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;      OpenNIDevice::CallbackHandle depth_callback_handle_counter_;</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;      OpenNIDevice::CallbackHandle ir_callback_handle_counter_;</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160; </div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;      <span class="keywordtype">bool</span> quit_;</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;      <span class="keyword">mutable</span> boost::mutex image_mutex_;</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;      <span class="keyword">mutable</span> boost::mutex depth_mutex_;</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;      <span class="keyword">mutable</span> boost::mutex ir_mutex_;</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;      boost::condition_variable image_condition_;</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;      boost::condition_variable depth_condition_;</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;      boost::condition_variable ir_condition_;</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;      boost::thread image_thread_;</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;      boost::thread depth_thread_;</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;      boost::thread ir_thread_;</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;  };</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160; </div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;  <span class="keywordtype">float</span></div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;  OpenNIDevice::getImageFocalLength (<span class="keywordtype">int</span> output_x_resolution) <span class="keyword">const</span> <span class="keywordflow">throw</span> ()</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;  {</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;    <span class="keywordflow">if</span> (output_x_resolution == 0)</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;      output_x_resolution = getImageOutputMode ().nXRes;</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160; </div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;    <span class="keywordtype">float</span> scale = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (output_x_resolution) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (XN_SXGA_X_RES);</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;    <span class="keywordflow">return</span> (rgb_focal_length_SXGA_ * scale);</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;  }</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160; </div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;  <span class="keywordtype">float</span></div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;  OpenNIDevice::getDepthFocalLength (<span class="keywordtype">int</span> output_x_resolution) <span class="keyword">const</span> <span class="keywordflow">throw</span> ()</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;  {</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;    <span class="keywordflow">if</span> (output_x_resolution == 0)</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;      output_x_resolution = getDepthOutputMode ().nXRes;</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160; </div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;    <span class="keywordtype">float</span> scale = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (output_x_resolution) / <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (XN_SXGA_X_RES);</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;    <span class="keywordflow">if</span> (isDepthRegistered ())</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;      <span class="keywordflow">return</span> (rgb_focal_length_SXGA_ * scale);</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;      <span class="keywordflow">return</span> (depth_focal_length_SXGA_ * scale);</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;  }</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160; </div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;  <span class="keywordtype">float</span></div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;  OpenNIDevice::getBaseline () <span class="keyword">const</span> throw ()</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;  {</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;    <span class="keywordflow">return</span> (baseline_);</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;  }</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160; </div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; OpenNIDevice::CallbackHandle</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;  OpenNIDevice::registerImageCallback (<span class="keywordtype">void</span> (T::*callback)(boost::shared_ptr&lt;Image&gt;, <span class="keywordtype">void</span>* cookie), T&amp; instance, <span class="keywordtype">void</span>* custom_data) <span class="keywordflow">throw</span> ()</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;  {</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;    image_callback_[image_callback_handle_counter_] = boost::bind (callback, boost::ref (instance), _1, custom_data);</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;    <span class="keywordflow">return</span> (image_callback_handle_counter_++);</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;  }</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160; </div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; OpenNIDevice::CallbackHandle</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;  OpenNIDevice::registerDepthCallback (<span class="keywordtype">void</span> (T::*callback)(boost::shared_ptr&lt;DepthImage&gt;, <span class="keywordtype">void</span>* cookie), T&amp; instance, <span class="keywordtype">void</span>* custom_data) <span class="keywordflow">throw</span> ()</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;  {</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;    depth_callback_[depth_callback_handle_counter_] = boost::bind ( callback,  boost::ref (instance), _1, custom_data);</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;    <span class="keywordflow">return</span> (depth_callback_handle_counter_++);</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  }</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160; </div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; OpenNIDevice::CallbackHandle</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;  OpenNIDevice::registerIRCallback (<span class="keywordtype">void</span> (T::*callback)(boost::shared_ptr&lt;IRImage&gt;, <span class="keywordtype">void</span>* cookie), T&amp; instance, <span class="keywordtype">void</span>* custom_data) <span class="keywordflow">throw</span> ()</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;  {</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;    ir_callback_[ir_callback_handle_counter_] = boost::bind ( callback,  boost::ref (instance), _1, custom_data);</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;    <span class="keywordflow">return</span> (ir_callback_handle_counter_++);</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;  }</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160; </div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;}</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// __OPENNI_IDEVICE_H__</span></div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// HAVE_OPENNI</span></div>
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